kitti2bag 安装出现的各种错误

1.按照官网的做法用docker安装

（docker指令和使用可参考）

docker run -v :/data -it tomas789/kitti2bag -t 2011_09_26 -r 0005 raw_synced

使用docker出现如下错误：

Traceback (most recent call last):
  File "/usr/local/bin/kitti2bag", line 5, in
    from pkg_resources import load_entry_point
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2927, in
    @_call_aside
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2913, in _call_aside
    f(*args, **kwargs)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 2940, in _initialize_master_working_set
    working_set = WorkingSet._build_master()
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 637, in _build_master
    return cls._build_from_requirements(__requires__)
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 650, in _build_from_requirements
    dists = ws.resolve(reqs, Environment())
  File "/usr/lib/python2.7/dist-packages/pkg_resources/__init__.py", line 834, in resolve
    raise VersionConflict(dist, req).with_context(dependent_req)
pkg_resources.ContextualVersionConflict: (numpy 1.11.0 (/usr/lib/python2.7/dist-packages), Requirement.parse('numpy>=1.12.0'), set(['pandas']))

暂未找到解决方案，所以暂时放弃这个方法

2.基于conda来安装

(conda指令请参考Conda使用教程 - 知乎)

conda create kitti

conda activate kitti

按照kitti2bag提示直接安装就可以了

pip install kitti2bag

但可惜安装完后执行kitti2bag指令就报错了：

 'kitti2bag' 不是内部或外部命令，也不是可运行的程序或批处理文件。

 好吧，那就检查一下环境变量，把所有跟kitti2bag相关的路径都配置到Path里面，然鹅没什么卵用。

现在怀疑安装出来的kitti2bag是缺损的，肯定也还缺少某些文件

3.网上查资料查呀查翻得我手都起茧了，终于找到了正确姿势

kitti2bag工具的安装_Maxen0604的博客-CSDN博客_kitti2bag:未找到命令

但在我执行

sudo pip install pandas==0.23.0 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com

这一句直接报错，报错内容还挺长的

(kitti2) C:\Users\Wincent>pip install pandas==0.23.0 -i http://pypi.douban.com/simple/ --trusted-host pypi.douban.com
Looking in indexes: http://pypi.douban.com/simple/
Collecting pandas==0.23.0
  Downloading http://pypi.doubanio.com/packages/45/12/1e1ba99fb65df9f7f3724d3232feef35cc044d18604d57492d561e90219f/pandas-0.23.0.tar.gz (13.1 MB)
     |████████████████████████████████| 13.1 MB 6.4 MB/s
Requirement already satisfied: python-dateutil>=2.5.0 in d:\program files\miniconda3\lib\site-packages (from pandas==0.23.0) (2.8.2)
Requirement already satisfied: pytz>=2011k in d:\program files\miniconda3\lib\site-packages (from pandas==0.23.0) (2021.1)
Requirement already satisfied: numpy>=1.9.0 in c:\users\wincent\appdata\roaming\python\python39\site-packages (from pandas==0.23.0) (1.23.0)
Requirement already satisfied: six>=1.5 in d:\program files\miniconda3\lib\site-packages (from python-dateutil>=2.5.0->pandas==0.23.0) (1.15.0)
Building wheels for collected packages: pandas
  Building wheel for pandas (setup.py) ... error
  ERROR: Command errored out with exit status 1:
   command: 'D:\Program Files\miniconda3\python.exe' -u -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'C:\\Users\\Wincent\\AppData\\Local\\Temp\\pip-install-adrp64f9\\pandas_a3c13137fb3a461d92861e57fc34c0e7\\setup.py'"'"'; __file__='"'"'C:\\Users\\Wincent\\AppData\\Local\\Temp\\pip-install-adrp64f9\\pandas_a3c13137fb3a461d92861e57fc34c0e7\\setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(__file__) if os.path.exists(__file__) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' bdist_wheel -d 'C:\Users\Wincent\AppData\Local\Temp\pip-wheel-794mpyou'
       cwd: C:\Users\Wincent\AppData\Local\Temp\pip-install-adrp64f9\pandas_a3c13137fb3a461d92861e57fc34c0e7\
  Complete output (1020 lines):
  running bdist_wheel
  running build
  running build_py
  creating build
  creating build\lib.win-amd64-3.9
  creating build\lib.win-amd64-3.9\pandas
  copying pandas\conftest.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\json.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\lib.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\parser.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\testing.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\tslib.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\_version.py -> build\lib.win-amd64-3.9\pandas
  copying pandas\__init__.py -> build\lib.win-amd64-3.9\pandas
  creating build\lib.win-amd64-3.9\pandas\api
  copying pandas\api\__init__.py -> build\lib.win-amd64-3.9\pandas\api
  creating build\lib.win-amd64-3.9\pandas\compat
  copying pandas\compat\chainmap.py -> build\lib.win-amd64-3.9\pandas\compat
  copying pandas\compat\chainmap_impl.py -> build\lib.win-amd64-3.9\pandas\compat
  copying pandas\compat\pickle_compat.py -> build\lib.win-amd64-3.9\pandas\compat
  copying pandas\compat\__init__.py -> build\lib.win-amd64-3.9\pandas\compat
  creating build\lib.win-amd64-3.9\pandas\computation
  copying pandas\computation\expressions.py -> build\lib.win-amd64-3.9\pandas\computation
  copying pandas\computation\__init__.py -> build\lib.win-amd64-3.9\pandas\computation
  creating build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\accessor.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\algorithms.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\api.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\apply.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\base.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\categorical.py -> build\lib.win-amd64-3.9\pandas\core
  copying pandas\core\common.py -> build\lib.win-amd64-3.9\pandas\core
...
...中间省略三万字
...
    copying pandas\tests\io\sas\data\test_12659.csv -> build\lib.win-amd64-3.9\pandas\tests\io\sas\data
    copying pandas\tests\io\sas\data\test_12659.sas7bdat -> build\lib.win-amd64-3.9\pandas\tests\io\sas\data
    copying pandas\tests\io\sas\data\test_sas7bdat_1.csv -> build\lib.win-amd64-3.9\pandas\tests\io\sas\data
    copying pandas\tests\io\sas\data\test_sas7bdat_2.csv -> build\lib.win-amd64-3.9\pandas\tests\io\sas\data
    copying pandas\tests\io\sas\data\zero_variables.sas7bdat -> build\lib.win-amd64-3.9\pandas\tests\io\sas\data
    creating build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\allow_exact_matches.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\allow_exact_matches_and_tolerance.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\asof.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\asof2.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\quotes.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\quotes2.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\tolerance.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\trades.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    copying pandas\tests\reshape\merge\data\trades2.csv -> build\lib.win-amd64-3.9\pandas\tests\reshape\merge\data
    creating build\lib.win-amd64-3.9\pandas\tests\tseries\offsets\data
    copying pandas\tests\tseries\offsets\data\cday-0.14.1.pickle -> build\lib.win-amd64-3.9\pandas\tests\tseries\offsets\data
    copying pandas\tests\tseries\offsets\data\dateoffset_0_15_2.pickle -> build\lib.win-amd64-3.9\pandas\tests\tseries\offsets\data
    UPDATING build\lib.win-amd64-3.9\pandas/_version.py
    set build\lib.win-amd64-3.9\pandas/_version.py to '0.23.0'
    running build_ext
    Traceback (most recent call last):
      File "", line 1, in 
      File "C:\Users\Wincent\AppData\Local\Temp\pip-install-adrp64f9\pandas_a3c13137fb3a461d92861e57fc34c0e7\setup.py", line 732, in 
        setup(name=DISTNAME,
      File "D:\Program Files\miniconda3\lib\site-packages\setuptools\__init__.py", line 153, in setup
        return distutils.core.setup(**attrs)
      File "D:\Program Files\miniconda3\lib\distutils\core.py", line 148, in setup
        dist.run_commands()
      File "D:\Program Files\miniconda3\lib\distutils\dist.py", line 966, in run_commands
        self.run_command(cmd)
      File "D:\Program Files\miniconda3\lib\distutils\dist.py", line 985, in run_command
        cmd_obj.run()
      File "D:\Program Files\miniconda3\lib\site-packages\setuptools\command\install.py", line 61, in run
        return orig.install.run(self)
      File "D:\Program Files\miniconda3\lib\distutils\command\install.py", line 546, in run
        self.run_command('build')
      File "D:\Program Files\miniconda3\lib\distutils\cmd.py", line 313, in run_command
        self.distribution.run_command(command)
      File "D:\Program Files\miniconda3\lib\distutils\dist.py", line 985, in run_command
        cmd_obj.run()
      File "D:\Program Files\miniconda3\lib\distutils\command\build.py", line 135, in run
        self.run_command(cmd_name)
      File "D:\Program Files\miniconda3\lib\distutils\cmd.py", line 313, in run_command
        self.distribution.run_command(command)
      File "D:\Program Files\miniconda3\lib\distutils\dist.py", line 985, in run_command
        cmd_obj.run()
      File "D:\Program Files\miniconda3\lib\distutils\command\build_ext.py", line 340, in run
        self.build_extensions()
      File "C:\Users\Wincent\AppData\Local\Temp\pip-install-adrp64f9\pandas_a3c13137fb3a461d92861e57fc34c0e7\setup.py", line 376, in build_extensions
        self.check_cython_extensions(self.extensions)
      File "C:\Users\Wincent\AppData\Local\Temp\pip-install-adrp64f9\pandas_a3c13137fb3a461d92861e57fc34c0e7\setup.py", line 370, in check_cython_extensions
        raise Exception("""Cython-generated file '{src}' not found.
    Exception: Cython-generated file 'pandas\_libs/algos.c' not found.
                    Cython is required to compile pandas from a development branch.
                    Please install Cython or download a release package of pandas.

    pandas._libs.algos: -> [['pandas\\_libs/algos.c']]
    ----------------------------------------
  Rolling back uninstall of pandas
  Moving to d:\program files\miniconda3\lib\site-packages\pandas-1.3.2.dist-info\
   from D:\Program Files\miniconda3\Lib\site-packages\~andas-1.3.2.dist-info
  Moving to d:\program files\miniconda3\lib\site-packages\pandas\
   from D:\Program Files\miniconda3\Lib\site-packages\~andas
ERROR: Command errored out with exit status 1: 'D:\Program Files\miniconda3\python.exe' -u -c 'import io, os, sys, setuptools, tokenize; sys.argv[0] = '"'"'C:\\Users\\Wincent\\AppData\\Local\\Temp\\pip-install-adrp64f9\\pandas_a3c13137fb3a461d92861e57fc34c0e7\\setup.py'"'"'; __file__='"'"'C:\\Users\\Wincent\\AppData\\Local\\Temp\\pip-install-adrp64f9\\pandas_a3c13137fb3a461d92861e57fc34c0e7\\setup.py'"'"';f = getattr(tokenize, '"'"'open'"'"', open)(__file__) if os.path.exists(__file__) else io.StringIO('"'"'from setuptools import setup; setup()'"'"');code = f.read().replace('"'"'\r\n'"'"', '"'"'\n'"'"');f.close();exec(compile(code, __file__, '"'"'exec'"'"'))' install --record 'C:\Users\Wincent\AppData\Local\Temp\pip-record-wrl18ym0\install-record.txt' --single-version-externally-managed --compile --install-headers 'D:\Program Files\miniconda3\Include\pandas' Check the logs for full command output.

于是尝试了使用conda install, 它与pip install最大的区别在于conda install 会更全面检查兼容性

详细区别请参考 conda install和pip install的区别_安安爸Chris的博客-CSDN博客_conda install和pip的区别

4.安装pykitti

pip install pykitti

但是安装完后测试下pykitti竟然还报错

测试语句：python -m pykitti

Traceback (most recent call last):
  File "D:\anaconda3\envs\kitti\lib\runpy.py", line 163, in _run_module_as_main
    mod_name, _Error)
  File "D:\anaconda3\envs\kitti\lib\runpy.py", line 111, in _get_module_details
    __import__(mod_name)  # Do not catch exceptions initializing package
  File "D:\anaconda3\envs\kitti\lib\site-packages\pykitti\__init__.py", line 3, in 
    from pykitti.odometry import odometry
  File "D:\anaconda3\envs\kitti\lib\site-packages\pykitti\odometry.py", line 8, in 
    import numpy as np
  File "D:\anaconda3\envs\kitti\lib\site-packages\numpy\__init__.py", line 142, in 
    from . import add_newdocs
  File "D:\anaconda3\envs\kitti\lib\site-packages\numpy\add_newdocs.py", line 13, in 
    from numpy.lib import add_newdoc
  File "D:\anaconda3\envs\kitti\lib\site-packages\numpy\lib\__init__.py", line 8, in 
    from .type_check import *
  File "D:\anaconda3\envs\kitti\lib\site-packages\numpy\lib\type_check.py", line 11, in 
    import numpy.core.numeric as _nx
  File "D:\anaconda3\envs\kitti\lib\site-packages\numpy\core\__init__.py", line 26, in 
    raise ImportError(msg)
ImportError:
Importing the multiarray numpy extension module failed.  Most
likely you are trying to import a failed build of numpy.
If you're working with a numpy git repo, try `git clean -xdf` (removes all
files not under version control).  Otherwise reinstall numpy.
Original error was: DLL load failed: 找不到指定的模块。

解决办法：

可能是numpy版本不对，毕竟kitti2bag工具出了那么多年，很多包都是基于当年2018年的版本来设置，所以找回2018年对应的numpy版本

pip install -U numpy==1.13
参考：
Numpy的版本查看、降级（自定版本下载）

5.安装完对应版本的numpy再测试一下pykitti, 依然报错

(kitti) C:\Users\Wincent>python -m pykitti
Traceback (most recent call last):
  File "D:\anaconda3\envs\kitti\lib\runpy.py", line 163, in _run_module_as_main
    mod_name, _Error)
  File "D:\anaconda3\envs\kitti\lib\runpy.py", line 111, in _get_module_details
    __import__(mod_name)  # Do not catch exceptions initializing package
  File "D:\anaconda3\envs\kitti\lib\site-packages\pykitti\__init__.py", line 5, in 
    from pykitti.tracking import tracking
  File "D:\anaconda3\envs\kitti\lib\site-packages\pykitti\tracking.py", line 12, in 
    import cv2
ImportError: No module named cv2

需要安装opencv-python，还是取回2018年的版本

如果冒昧装个opencv 2.x还会报错

ERROR: Could not find a version that satisfies the requirement opencv-python==3.4.1 (from versions: 3.1.0.0, 3.1.0.5, 3.2.0.7, 3.2.0.8, 3.3.0.9, 3.3.0.10, 3.3.1.11, 3.4.0.12, 3.4.0.14, 3.4.1.15, 3.4.2.16, 3.4.2.17, 3.4.3.18, 3.4.4.19, 3.4.5.20, 3.4.6.27, 3.4.7.28, 3.4.8.29, 3.4.9.31, 3.4.10.37, 4.0.0.21, 4.0.1.23, 4.0.1.24, 4.1.0.25, 4.1.1.26, 4.1.2.30, 4.2.0.32, 4.3.0.38)

根据cv历史版本信息
OpenCV历史版本 选定2018版本3.4.1.15

pip install opencv-python==3.4.1.15

最后试下pykitti没有出错证明可以了

6.下一步要面对疾风了：测试kitti2bag

安装kitti2bag

pip install kitti2bag

之后测试python -m kitti2bag

还是报错

kitti2bag 不是内部或外部命令,也不是可运行的程序

这就纳闷了，环境变量都配置好了，参考这个

解决：‘conda‘ 不是内部或外部命令，也不是可运行的程序_weixin_53939670的博客-CSDN博客_conda不是内部或外部命令也不是可运行如果你有标题所说问题，请详细看以下步骤：1.找到Anaconda的Scripts文件夹路径，Anaconda安装在D:\Anaconda，所以对应的路径就是：D:\Anaconda\Scripts，复制该路径2.点击“我的电脑”右键属性--高级系统设置 --环境变量（右下角）3.系统变量--path--编辑4.新建--将找到的路径输入进去5.确定--win+r--cmd--在文本框里输入conda --version就可以啦！！...https://blog.csdn.net/weixin_53939670/article/details/124025269ktti2bag命名就在环境变量指定的路径里面，但无论我如何更改文件名为kitti2bag.py它就是不运行

看来得用大招，直接上spyder/jupyter notebook来运行它

但是偏偏在此刻网络非常卡顿安装不了spyder和notebook

7.再次回到kitti2bag的github网站，想再看看到底有没有漏了哪些细节

果真，题目写着：“要在ROS环境下完成”（论审题的重要性啊！）

于是想起去年搭建了一个ROS环境的UBUNTU就在电脑的第二系统

最终我切换了系统，作最后的尝试

虽然遇到两个错误，一个安装pip的错误，一个是rqt_bag指令运行错误，但最终都轻易解决，

（参考：

在执行rqt_bag指令报错

ubuntu下载PIP失败

）

如愿以偿，让我看到最终的画面，辛苦了1个月都在调试，看到了最终Kitti2bag跑起来的画面，那种感觉无比兴奋阿！